Cog3DHandEyeCalibrationValidator Class

Cognex VisionPro 9.5

This class is for validating an existing 3D hand-eye calibration for one camera. The validation step accepts as inputs the original hand-eye calibration, a set of robot poses, and a corresponding set of feature positions. The output of the validation is a hand-eye validation result object. the hand-eye validation result object contains a camera calibration validation result and residuals for the hand-eye calibration validation. These characterize the accuracy of the hand-eye system. The accuracy can be compared to "baseline" accuracy estimates from calibration time in order to determine if the hand-eye system is still in calibration.

Inheritance Hierarchy

System Object
  System MarshalByRefObject
    Cognex.VisionPro.Implementation CogObjectBase
      Cognex.VisionPro.Implementation CogSerializableObjectBase
        Cognex.VisionPro3D Cog3DHandEyeCalibrationValidator

Namespace: Cognex.VisionPro3D
Assembly: Cognex.VisionPro3D (in Cognex.VisionPro3D.dll) Version: 69.0.0.0

Syntax

C++

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[SerializableAttribute]
public class Cog3DHandEyeCalibrationValidator : CogSerializableObjectBase, 
	IDisposable

[SerializableAttribute]
public class Cog3DHandEyeCalibrationValidator : CogSerializableObjectBase, 
	IDisposable

<SerializableAttribute>
Public Class Cog3DHandEyeCalibrationValidator 
	Inherits CogSerializableObjectBase 
	Implements IDisposable

<SerializableAttribute>
Public Class Cog3DHandEyeCalibrationValidator 
	Inherits CogSerializableObjectBase 
	Implements IDisposable

[SerializableAttribute]
public ref class Cog3DHandEyeCalibrationValidator : public CogSerializableObjectBase, 
	IDisposable

[SerializableAttribute]
public ref class Cog3DHandEyeCalibrationValidator : public CogSerializableObjectBase, 
	IDisposable

The Cog3DHandEyeCalibrationValidator type exposes the following members.

Constructors

	Name	Description
	Cog3DHandEyeCalibrationValidator	Construct this default Cog3DHandEyeCalibrationValidator.
	Cog3DHandEyeCalibrationValidator(Cog3DHandEyeCalibrationValidator)
	Cog3DHandEyeCalibrationValidator(SerializationInfo, StreamingContext)

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Methods

	Name	Description
	CreateObjRef	Creates an object that contains all the relevant information required to generate a proxy used to communicate with a remote object. (Inherited from MarshalByRefObject.)
	Dispose
	Dispose(Boolean)
	Equals	Determines whether the specified Object is equal to the current Object. (Inherited from Object.)
	Execute	Validate the specified hand-eye calibration result using the specified calibration features and robot poses, and then return the hand-eye calibration validation result.
	Finalize	(Overrides Object Finalize .)
	GetAttributes	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetClassName	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetComponentName	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetConverter	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetDefaultEvent	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetDefaultProperty	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetEditor	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetEvents	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetEvents( Attribute )	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetHashCode	Serves as a hash function for a particular type. (Inherited from Object.)
	GetLifetimeService	Retrieves the current lifetime service object that controls the lifetime policy for this instance. (Inherited from MarshalByRefObject.)
	GetObjectData	Implements the GetObjectData method of the ISerializable interface. (Inherited from CogSerializableObjectBase.)
	GetProperties	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetProperties( Attribute )	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetPropertyOwner	Implements the corresponding member of the ICustomTypeDescriptor interface. May be overridden in derived classes to provide custom type information. (Inherited from CogObjectBase.)
	GetType	Gets the Type of the current instance. (Inherited from Object.)
	InitializeLifetimeService	Obtains a lifetime service object to control the lifetime policy for this instance. (Inherited from MarshalByRefObject.)
	MemberwiseClone	Creates a shallow copy of the current Object. (Inherited from Object.)
	MemberwiseClone(Boolean)	Creates a shallow copy of the current MarshalByRefObject object. (Inherited from MarshalByRefObject.)
	ToString	Returns a String that represents the current Object. (Inherited from Object.)

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Remarks

A "baseline" validation should be performed immediately after hand-eye calibration. That baseline validation step should involve multiple view sets so that one can estimate the distribution of residuals. The "baseline" validation measurements are stored for future comparison.

Then, at some arbitrary time (usually after the system performed vision tasks for a period of time), the user acquires images of the same calibration plate in some set of (preferrably, the same) robot poses and executes hand-eye calibration validation to get the "current" measurements. Finally, the user compares the "current" validation measurements with the "baseline".

If the "current" measurements agree with the "baseline" measurements to a satisfactory degree, then the system is in calibration and the user does not need to perform any recalibration. If the measurements inside the camera calibration validation results satisfactorily agree, but the measurements of hand-eye validation residuals do not satisfactorily agree, then the user can use the baseline camera intrinsics to re-perform hand-eye calibration. If camera calibration validation results do not agree and the hand-eye calibration validation results do not agree, then camera calibration and hand-eye calibration both need to be performed again.